Series-parallel hybrid power cotton harvester, and control method therefor

Abstract

A series-parallel hybrid power cotton harvester and a control method therefor. The series-parallel hybrid power cotton harvester comprises a series-parallel hybrid power system (20). The series-parallel hybrid power system (20) comprises an engine (21), a gearbox (22), a coupling device, a differential, a generator (26), a battery (28), a main controller (11), a movement motor controller, a picking motor controller (11-c), a blower motor controller (11-e), a packing motor controller (11-f), a cotton collection motor controller (11-g), and a conveying motor controller (11-h). The engine (21) can transmit power to the coupling device by means of the gearbox (22), and the coupling device couples the power of the engine (21) and that of a movement motor, and then transmits same to wheels by means of the differential.

Description

Hybrid cotton picker and control method thereof TECHNICAL FIELD

[0001] The present application belongs to the technical field of electromechanical hybrid power of agricultural machinery, and particularly relates to a hybrid cotton picker and a control method thereof. BACKGROUND

[0002] With the improvement of agricultural mechanization level, energy consumption and environmental pollution have become an increasingly prominent problem. In the global range, countries are increasingly attaching importance to energy saving and emission reduction and ecological civilization construction, and the agricultural field is no exception. In order to meet the requirements of ecology, energy saving and environmental protection, it is more and more urgent to promote the development and application of green power agricultural machinery.

[0003] The traditional fuel cotton picker has many disadvantages, such as high fuel cost, large emission pollution, black exhaust smoke and the like. Moreover, the traditional cotton picker adopts a diesel engine + mechanical transmission mode to drive picking device, pneumatic conveying device, packing device, walking device and the like, and has many transmission system components, long path, and unadjustable operation parameters in real time, which leads to unstable machine operation performance and serious energy waste under low load. The pure electric cotton picker has the disadvantages of short endurance mileage, high cost, fire risk, high risk coefficient, serious efficiency decline in cold regions and high battery replacement cost. Therefore, the traditional cotton picker has the problems of large oil consumption, pollution, serious transmission power loss and low energy utilization efficiency.

[0004] SUMMARY

[0005] In view of the above technical problems, the present application provides a hybrid cotton picker, which can at least solve one of the above problems, and has low oil consumption, small pollution, small transmission power loss and high energy utilization efficiency.

[0006] The present application also provides a control method of the hybrid cotton picker, which can realize the mode switching between the parking mode, the EV pure electric driving mode, the HEV hybrid driving mode, the braking mode and the plug-in mode through the application of the hybrid power system, and improve the fuel economy and dynamic performance of the vehicle.

[0007] Note that the description of these objects does not hinder the existence of other objects. One mode of the present application does not need to realize all the above objects. The objects other than the above objects can be extracted from the description, drawings and claims.

[0008] The present application achieves the above technical objects through the following technical means.

[0009] The serial-parallel hybrid cotton picker comprises a serial-parallel hybrid power system; the serial-parallel hybrid power system comprises an engine, a gearbox, a coupling device, a differential, a generator, a battery, a main controller, a walking motor controller, a picking motor controller, a fan motor controller, a baling motor controller, a ginning motor controller and a conveying motor controller; the engine and the battery are used for outputting power; the generator is used for converting mechanical energy of the engine into electric energy to charge the battery; the battery is connected with the walking motor controller, and electric energy is distributed to the walking motor controller to control a walking motor to drive a walking device to walk; the battery is connected with the picking motor controller, and electric energy is distributed to the picking motor controller to control a picking motor to drive a picking device to pick; the battery is connected with the fan motor controller, and electric energy is distributed to the fan motor controller to control a fan motor to drive a pneumatic conveying device to convey air; the battery is connected with the baling motor controller, and electric energy is distributed to the baling motor controller to control a baling motor to drive a baling device to bale; the battery is connected with the ginning motor controller, and electric energy is distributed to the ginning motor controller to control a motor to drive a beater to feed cotton into a ginning box; the battery is connected with the conveying motor controller, and electric energy is distributed to the conveying motor controller to control a hydraulic pump motor to drive a wing plate of a cotton holder; the engine is connected with the gearbox, the gearbox is connected with the coupling device, the coupling device is connected with the walking motor, and the engine can transmit power to the coupling device through the gearbox, the coupling device couples power of the engine and the walking motor, and then transmits the power to wheels through the differential; the main controller is connected with the battery, the walking motor controller, the picking motor controller, the fan motor controller, the baling motor controller, the ginning motor controller and the conveying motor controller respectively.

[0010] In the above scheme, the walking motor controller comprises a front axle motor controller and a rear axle motor controller; the walking motor comprises a front axle motor and a rear axle motor; the front axle motor controller is used for controlling the front axle motor to drive a front wheel to walk; and the rear axle motor controller is used for controlling the rear axle motor to drive a rear wheel to walk.

[0011] In the above scheme, the picking device comprises a picking cylinder and a cotton stripping cylinder; the picking motor is connected with a picking transmission shaft, the picking transmission shaft is connected with the picking cylinder and the cotton stripping cylinder through a transmission gear set, and the picking motor drives the picking transmission shaft to transmit power to the picking cylinder and the cotton stripping cylinder through the transmission gear set 15-a.

[0012] In the above scheme, the fan in the pneumatic conveying device is connected with the fan motor and is driven by the fan motor alone.

[0013] In the above scheme, the beater of the conveying feeding system in the ginning box is connected with the motor and is driven by the motor alone.

[0014] In the scheme, the film feeding roller of the film laminating device in the packing device shares a packing motor with a transmission belt; the film feeding roller is connected with the packing motor and directly driven by the packing motor; the transmission belt is connected with the packing motor through a belt and driven by the packing motor through the belt.

[0015] In the scheme, the battery is connected with the main controller through a step-down DC / DC converter; the battery is powered to the motor main controller after being stepped down by the step-down DC / DC converter.

[0016] In the scheme, a clutch is arranged in front of the generator, and the generator turns on and off the power input into the generator through the clutch.

[0017] In the scheme, an inverter is arranged between the generator and the battery.

[0018] In the scheme, the series-parallel hybrid power system includes a parking mode A, an EV pure electric drive mode B, an HEV hybrid drive mode C, a braking mode D and a plug-in mode E, and the different modes can be switched.

[0019] In the scheme, in the EV pure electric drive mode B, only the battery provides power to the walking motor.

[0020] In the scheme, in the parking mode A, the whole machine stops at the original place.

[0021] In the scheme, in the HEV hybrid drive mode C, when the pure electric drive cannot meet the target power, the battery and the generator work simultaneously, the walking motor driven by the generator and the battery is coupled through a coupling device and then drives the wheels through a differential, the clutch cuts off the power input into the generator, and the charging of the battery is stopped.

[0022] Further, in the HEV hybrid drive mode C, when the pure electric drive can meet the target power, the generator connected with the engine charges the battery.

[0023] In the scheme, in the braking mode D, the wheels reverse the walking motor to charge the battery.

[0024] In the scheme, in the plug-in mode E, the series-parallel hybrid power cotton picker is externally connected with a power supply to charge the power battery.

[0025] A control method of the series-parallel hybrid power cotton picker, comprising the following steps:

[0026] The battery of the series-parallel hybrid system distributes electric energy to the walking motor controller to control the walking motor to drive the walking device to walk; the battery distributes electric energy to the picking motor controller to control the picking motor to drive the picking cylinder and the cotton stripping cylinder of the picking device to pick; the battery distributes electric energy to the fan motor controller to control the fan motor to drive the pneumatic conveying device to blow air; the battery distributes electric energy to the packing motor controller to control the packing motor to drive the film feeding roller and the transmission belt of the packing device to pack; the battery distributes electric energy to the cotton collecting motor controller to control the motor to drive the beater to feed the cotton into the cotton collecting box; the battery distributes electric energy to the conveying motor controller to control the hydraulic pump motor to drive the wing plate of the cotton carrying frame; the main controller independently adjusts the rotating speeds of the walking motor, the picking motor, the fan motor, the packing motor, the motor and the hydraulic pump motor through the walking motor controller, the picking motor controller, the fan motor controller, the packing motor controller, the cotton collecting motor controller and the conveying motor controller, respectively.

[0027] The above scheme further includes the following steps:

[0028] The series-parallel hybrid system only provides power to the walking motor through the battery in the EV pure electric driving mode B;

[0029] In the HEV hybrid driving mode C, when the target power cannot be met by pure electric driving, the battery and the engine work simultaneously, the engine and the battery drive the walking motor through the coupling device, and the walking motor drives the wheels through the differential after coupling, the clutch cuts off the power entering the generator, and the charging of the battery is stopped;

[0030] In the HEV hybrid driving mode C, when the target power can be met by pure electric driving, the engine is connected to the generator to charge the battery;

[0031] In the braking mode D, the wheels charge the battery through the walking motor in reverse;

[0032] In the plug-in mode E, the series-parallel hybrid cotton picker is connected to the power supply to charge the power battery.

[0033] In the above scheme, the following control steps of the series-parallel hybrid system are further included:

[0034] When the cotton picker starts, the parking mode A is switched to the EV pure electric driving mode B, the driving torque T t >0, and the braking torque T brk =0;

[0035] When the cotton picker decelerates, the EV pure electric driving mode B is switched to the braking mode D, the vehicle speed v veh >0, the driving torque T t =0, and the braking torque Tbrk >0;

[0036] The cotton picker accelerates from the braking mode D to switch the EV pure electric drive mode B, and the vehicle speed v veh >0, the driving torque T t >0, the braking torque T brk =0;

[0037] The cotton picker decelerates from the HEV hybrid drive mode C to switch the EV pure electric drive mode B, and the vehicle speed v veh <the pure electric mode vehicle speed threshold value v EV , the driving torque T t >0, the braking torque T brk =0, the battery SOC> the minimum battery capacity;

[0038] The cotton picker continuously accelerates from the EV pure electric drive mode B to switch the HEV hybrid drive mode C, and the vehicle speed v veh >the pure electric mode vehicle speed threshold value v EV , the driving torque T t >0, the braking torque T brk =0;

[0039] The cotton picker wheel drives the generator to charge the battery, and the vehicle speed v veh >0, the driving torque T t =0, the braking torque T brk ≤T reg The maximum regenerative braking torque of the motor, and the battery SOC<the maximum battery capacity;

[0040] The cotton picker accelerates from the braking mode D to switch the HEV hybrid drive mode C, and the vehicle speed v veh >0, the driving torque T t >0, the braking torque T brk =0;

[0041] The cotton picker decelerates from the HEV hybrid drive mode C to switch the braking mode D, and the vehicle speed v veh >0, the driving torque T t >0, the braking torque T brk =0;

[0042] When the cotton picker decelerates to stop, the braking mode D is switched to the parking mode A, and the vehicle speed v veh =0, the driving torque T t =0, the braking torque T brk =0.

[0043] Compared with the prior art, the beneficial effects of the present application are:

[0044] The serial-parallel hybrid power cotton picking machine has the advantages of low oil consumption, small pollution, small transmission power loss and high energy utilization efficiency, and is a high-efficiency, energy-saving and low-cost cotton picking machine.

[0045] The mechanical decoupling between the working systems of the cotton picking machine is realized through the distributed electric drive, the problems of multiple components and long path of the transmission system of the traditional cotton picking machine are solved, the working system and the power system are simplified by removing the transmission belt and the belt, the motor is a system independent of the engine, and therefore, maintenance and adjustment are easier.

[0046] The serial-parallel hybrid power cotton picking machine has the advantages of flexible structure layout of the working system, high energy utilization rate, etc., meanwhile, the application of the battery and the generator can reduce the fuel consumption and carbon emission of the whole machine and improve the environmental friendliness, through the application of the serial-parallel hybrid power system, the endurance and energy saving of the whole machine are taken into account, and the mode switching between the parking mode, the EV pure electric drive mode, the HEV hybrid drive mode, the braking mode and the plug-in mode is realized, the fuel economy and the dynamic performance of the whole vehicle are improved.

[0047] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present application does not necessarily have all the above-mentioned effects. Effects other than the above-mentioned effects can be clearly seen and extracted from the description, drawings, claims, etc. BRIEF DESCRIPTION OF DRAWINGS

[0048] Fig. 1 is a topology structure diagram of a serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0049] Fig. 2 is a side view and partial sectional view of the serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0050] Fig. 3 is a picking top view of the serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0051] Fig. 4 is a pneumatic conveying schematic diagram of the serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0052] Fig. 5 is a packing side view of the serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0053] Fig. 6 is a chassis top view of the serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0054] Fig. 7 is a running mode switching schematic diagram of the serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0055] Fig. 8 is a power flow schematic diagram of the EV pure electric drive mode of the serial-parallel hybrid power cotton picking machine according to an embodiment of the present application;

[0056] Fig. 9 is a schematic diagram of power flow in HEV mode of the hybrid cotton picker according to the present application;

[0057] Fig. 10 is a schematic diagram of power flow in braking mode of the hybrid cotton picker according to the present application;

[0058] Fig. 11 is a schematic diagram of mode switching of the hybrid cotton picker according to the present application.

[0059] Fig. 10 is a schematic diagram of power flow in braking mode of the hybrid cotton picker according to the present application; DETAILED DESCRIPTION

[0060] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein like reference numerals identify like elements or elements with similar functions throughout the described views. The embodiments described below are merely examples used to explain the present application and are not to be construed as limiting the present application.

[0061] In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0062] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0063] As shown in FIGS. 1 and 2, a preferred embodiment of the hybrid cotton picker according to the present application includes a hybrid power system 20 and a working system 10; the hybrid power system 20 includes an engine 21, a gearbox 22, a coupling device, a differential, a generator 26, an inverter 27, a battery 28, a main controller 11, a walking motor controller, a picking motor controller 11-c, a fan motor controller 11-e, a baling motor controller 11-f, a ginning motor controller 11-g, a conveying motor controller 11-h, a step-down DC / DC converter 12 and a plurality of motors; the working system 10 includes a walking device 30, a picking device 40, a pneumatic conveying device 50, a ginning box 60, a baling device 70 and a cotton carrier 80.

[0064] As shown in Fig. 1, in one embodiment of the application, the coupling device includes a first coupling device 23-a and a second coupling device 23-b, the differential includes a first differential 24-a and a second differential 24-a; the motor includes a walking motor and a working motor, the walking motor includes a front axle motor 13, a rear axle motor 14, the walking motor controller includes a front axle motor controller 11-a and a rear axle motor controller 11-b; the working motor includes a picking motor 15, a fan motor 16, a packing motor 17, a motor 18-a, a hydraulic pump motor 18; the engine 21, the gearbox 22, the first coupling device 23-a, the second coupling device 23-b, the first differential 24-a, the second differential 24-a, the generator 21 are connected by a mechanical path. The generator 21, the inverter 27, the battery 28, the main controller 11, the voltage reduction DC / DC converter 12, the front axle motor 13, the rear axle motor 14, the picking motor 15, the fan motor 16, the packing motor 17, the motor 18-a, the hydraulic pump motor 18 are connected to the battery 28 by a wire. The main controller 11, the picking motor controller 11-c, the fan motor controller 11-e, the packing motor controller 11-f, the cotton collecting motor controller 11-g, the conveying motor controller 11-h are connected by a control signal. The motor 18-a of the wing plate in the cotton holder 80 is connected to the hydraulic system by a hydraulic path.

[0065] The engine 21 and the battery 28 are used to output power; the generator 26 is used to convert the mechanical energy of the engine 21 into electrical energy to charge the battery 28; the battery 28 is connected with the walking motor controller, and electrical energy is distributed to the walking motor controller to control the walking motor to drive the walking device to walk; the front axle motor controller 11-a is used to control the front axle motor to drive the front wheel 25-a to walk; the rear axle motor controller 11-b is used to control the rear axle motor to drive the rear wheel 25-b to walk; the battery 28 is connected with the picking motor controller 11-c, and electrical energy is distributed to the picking motor controller 11-c to control the picking motor 15 to drive the picking device to pick; the battery 28 is connected with the fan motor controller 11-e, and electrical energy is distributed to the fan motor controller 11-e to control the fan motor 16 to drive the pneumatic conveying device 50 to blow wind; the battery 28 is connected with the packing motor controller 11-f, and electrical energy is distributed to the packing motor controller 11-f to control the packing motor 17 to drive the packing device to pack; the battery is connected with the ginning motor controller 11-g, and electrical energy is distributed to the ginning motor controller 11-g to control the motor 18-a to drive the beating roller 61 in the conveying feeding system to feed cotton into the ginning box 60; the battery 28 is connected with the conveying motor controller 11-h, and electrical energy is distributed to the conveying motor controller 11-h to control the hydraulic pump motor 18 to drive the wing plate of the cotton holder 80 to lower to unload the cotton in the ginning box 60; the engine 21 is connected with the gearbox 22, the gearbox 22 is connected with the coupling device, the coupling device is connected with the walking motor, and the engine 21 can transmit power to the coupling device through the gearbox 22, the coupling device couples the power of the engine 21 and the walking motor, and then transmits the power to the wheel through the differential mechanism; the main controller 11 is connected with the battery 28, the walking motor controller, the picking motor controller 11-c, the fan motor controller 11-e, the packing motor controller 11-f, the ginning motor controller 11-g and the conveying motor controller 11-h respectively.

[0066] In order to ensure that the picking device 40 and the pneumatic conveying device 50 can maintain relatively constant speed under the condition of large load fluctuation during operation, the motor main controller 11 can be adjusted in real time according to the operation condition to ensure that the cotton picker works stably. The distributed electric drive technology is adopted, mechanical decoupling is realized between the working components, and the operation efficiency is improved.

[0067] As shown in Figures 2 and 3, in one embodiment of the present application, the picking device 40 is installed on the lower front part of the cotton picker, spanning the entire width of both sides. The picking device 40 includes a straw holder, a grid, a picking spindle, a picking cylinder 42, a stripping cylinder 43, a guide groove, a cleaning liquid, a picking motor, etc. The picking motor 15 is connected to the picking transmission shaft 15-b, which is connected to the picking cylinder 42 and the stripping cylinder 43 through the transmission gear set 15-a. The picking motor 15 drives the picking transmission shaft 15-b, which in turn transmits power to the picking cylinder 42 and the stripping cylinder 43 through the transmission gear set 15-a. The cotton picking cylinder 42 is partially equipped with a picking motor 15, and the stripping cylinder 43 is driven by the picking motor 15 through the transmission gear set 15-a. In a specific embodiment of the present application, the picking motor 15 is installed above the picking cylinder 42 and the stripping cylinder 43, and one picking motor 15 controls three picking heads through the transmission gear set 15-a and the picking transmission shaft 15-b. In addition, the hybrid cotton picker can adjust the speed of the picking motor 15 according to different working conditions, thereby reducing energy waste and improving working performance.

[0068] In a specific embodiment of the present application, it is preferred that the picking motor 15 is installed at the front end of the cotton picker, which is beneficial to the picking part equipped with electric picking spindles, but this will cause the center of gravity of the cotton picker to move forward. In order to balance the center of gravity of the cotton picker, a battery 28 is installed in the middle and rear section of the cotton picker, which can stabilize the posture of the cotton picker.

[0069] The output shaft speed of the stripping cylinder 43 for stripping is reduced by the transmission gear set 15-a, which makes it possible for the hybrid cotton picker to obtain high torque at low speed. In this way, the driving device of the stripping cylinder is the picking motor 15, the transmission gear set 15-a, and the picking transmission shaft 15-b, which together generate the driving power for stripping.

[0070] The working process of the picking device: the picking cylinder 42 has hook-toothed self-rotating steel fingers, and when the picking cylinder 42 rotates, the picking spindles enter the squeezed plants in the picking area, the inclined hooks on the picking spindles hook the seed cotton and pull it out of the cotton bolls, rotating inward. The stripping cylinders arranged around the picking cylinder 42 sweep the cotton, and the stripping cylinder 43 rotates in the opposite direction of the picking spindle, and the high-speed air distribution pipe 51 is connected between the picking cylinder 42 and the stripping cylinder 43, which can make the air at a very high speed strip the seed cotton from the stripping cylinder 43 and enter the cotton conveying pipe 52.

[0071] But the traditional horizontal picking spindle type cotton picker picking device is a complex mechanical structure system, the actual picking operation, picking device speed stability, so when the density of the cotton plants, blockage is often the phenomenon, affect the efficiency of the harvest. So when the flow is larger, increase the picking motor speed, and achieve stepless speed regulation function, can reduce the possibility of system blockage.

[0072] As shown in Figure 4, the pneumatic conveying device 50 of the cotton picker includes a fan, a fan pipe 51, a cotton conveying pipe 52, and a fan motor 16. The fan is installed below the cotton picker and is driven by the fan motor 16 on the right side. The fan rotates at high speed to form an air flow, and the air flow generated by the fan has two directions. One is into the fan pipe 51, and the other end of the fan pipe 51 is located above the middle of the picking cylinder 42 and the stripping cylinder 43, and then the cotton separated from the stripping cylinder 43 is blown to the cotton conveying pipe 52. The other direction of the air flow is the cotton conveying pipe 52, which conveys the cotton blown from the stripping cylinder 43 to the cotton collecting box 60 and temporarily stores it in the cotton collecting box 60.

[0073] The fan driven by the fan motor 16 is integrated with the fan motor controller 11-e to realize automatic and intelligent control, facilitate automatic start and stop, speed regulation, fault detection and other functions of the fan, and improve the operation efficiency and reliability of the cotton picker. The driver can adjust the fan controller 11-e to flexibly control the motor speed and control the air volume output to adapt to different working conditions and requirements by observing the size of the cotton input.

[0074] The fan in the pneumatic conveying device 50 is connected with the fan motor 16 and driven by the fan motor 16.

[0075] As shown in Figure 5, the cotton collecting box 60 is located in the middle and upper part of the cotton picker, behind the outlet of the cotton conveying pipe 52 of the conveying system, and the conveying feeding system is located below the cotton collecting box 60 and above the chassis. The beating roller 61 in the conveying feeding system is driven by a separate motor 18-a.

[0076] The cotton collecting box 60 stores the cotton conveyed by the fan, and when the cotton reaches a certain height, the beating roller 61 of the conveying feeding system can break the cotton clumps to uniformly feed the baling device.

[0077] As shown in Figure 5, the film feeding roller 71 and the transmission belt 72 of the film covering device in the baling device 70 share a baling motor 17; the film feeding roller 71 is connected with the baling motor 17 and directly driven by the baling motor 17; the transmission belt 72 is connected with the baling motor 17 through the belt 17-a and driven by the baling motor 17 through the belt 17-a.

[0078] The working process of the baling device 70: the baling device 70 is located at the rear of the cotton picker, the rear of the conveying feeding system, the bale size reaches the set value, the baling motor 17 in the baling device 70 directly drives the film feeding roller 71, the transmission belt 72 is driven by the baling motor 17 through the belt, and the packaging film is smoothly sent into the bin. Thus the cotton is wound and formed, and the film wrapping is completed. After the cotton collecting box is emptied, the film feeding roller stops working, the rear box body is opened, and the bale is transported to the cotton supporting frame.

[0079] The battery 28 is connected with the main controller 11 through the step-down DC / DC converter 12; the battery 28 is stepped down through the step-down DC / DC converter 12 and supplies power to the motor main controller 11.

[0080] The generator 26 is provided with a clutch 26-a in front, and the generator 26 turns on and off the power input to the generator 21 through the clutch 26-a.

[0081] The generator 26 is provided with an inverter 27 between the generator 26 and the battery 28.

[0082] The walking device 30 is installed on the lower chassis of the cotton picker, and the walking device has a pair of tires in front and rear of the cotton picker, the rear wheel can provide steering, and the front and rear wheels can make the cotton picker advance or retreat.

[0083] In one specific embodiment of the application, the motor main controller 11 is located at the front end of the cotton picker, and the motor main controller 11 is used for operating the front axle motor controller 11-a, the rear axle motor controller 11-b of the cotton picker, and is used for operating the picking spindle picking motor controller 11-c, the conveying motor controller 11-h for conveying the cotton collecting box, the motor controller 11-f for baling cotton, and the hydraulic pump motor controller 11-g for controlling the wing plate.

[0084] As shown in FIG. 6, the engine 21 is located on the left side of the cotton picker chassis, below the cotton collecting box 60, and the generator 26 is located on the right side of the engine 21. The generator 26 is connected with the engine 21 and is driven by the engine 21 to generate electric energy which is stored in the battery 28 through the inverter 27. The power of the engine 21, the gearbox 22, the front axle motor 13 and the rear axle motor 14 driven by the battery 28 is coupled through the planetary gear coupling device and then outputted, the first coupling device 23-a and the second coupling device 23-b are connected with the first differential 24-a and the second differential 24-b respectively, and the power is transmitted to the front wheel 25-a and the rear wheel 25-b through the front transmission shaft 25-c and the rear transmission shaft 25-d.

[0085] The hydraulic pump in the traditional fuel-powered cotton picker's travel device is mainly used to drive the hydraulic motor, providing power to enable the cotton picker to travel and turn. The hydraulic system needs to be regularly replaced with hydraulic oil, maintain the hydraulic pipeline and hydraulic elements, etc., with a relatively high maintenance cost. Moreover, the high-pressure liquid in the hydraulic system may have the risk of leakage and spatter, posing a potential threat to the safety of the operator. In contrast, the motor-driven pump has a lower maintenance cost, only needing regular inspection and maintenance of the motor and the electric control system; and the electric pump does not involve high-pressure liquid, with relatively high safety; the electric pump only needs power supply and pipeline, making the system structure simpler and reducing the difficulty of maintenance and troubleshooting.

[0086] The hydraulic oil in the hydraulic system generates heat and energy loss, while the electric pump has a higher energy conversion efficiency, being able to achieve better energy saving, environmental protection, operation efficiency and energy utilization efficiency.

[0087] The following is the cotton picking process of the series-parallel hybrid cotton picker: the seed cotton picked by the cotton picking head is sent to the cotton collecting box 60 through the pneumatic conveying device 50, the compacting stirrer makes the cotton uniformly distributed, after the cotton is full, the impact roller 61 breaks the cotton clumps to make the cotton uniformly fed, the baling motor 17 directly drives the film feeding roller to rotate, the belt 17-a is rotated, the cotton is wound into a shape, after the cotton collecting box 60 is emptied, the film feeding roller 71 stops working, the bale size reaches the set value, the baling motor 17 drives the baling system to start to complete the film wrapping, the rear box body is opened to bale to the cotton supporting frame 80, the driver can bale to the specified position according to the demand or place on the ground immediately.

[0088] The series-parallel hybrid cotton picker of the application utilizes the motor to reduce the load of the fuel engine, reducing the wear and tear and failure risk of the fuel engine. This can prolong the service life of the fuel engine and improve the reliability and durability of the whole machine.

[0089] The series-parallel hybrid cotton picker of the application utilizes the high torque and fast response characteristics of the motor to provide additional power and performance for the cotton picker. The motor can provide auxiliary power when higher power is needed, improving acceleration performance and operation efficiency.

[0090] The series-parallel hybrid cotton picker of the application utilizes the use of the motor to reduce the dependence on fuel, thereby reducing energy consumption and carbon emissions. The motor has high efficiency at low load and startup, while the fuel engine can provide additional power at high load. This combination can achieve higher fuel utilization, improve operation efficiency and reduce environmental pollution.

[0091] In addition, the engine 21 and the battery 28 are the energy sources of the whole machine, which, together with the gearbox 22, the coupling device, the differential, the generator 26, the inverter 27, the battery 28 and other components, constitute the power system of the whole machine.

[0092] As shown in FIG. 7, the series-parallel hybrid system 20 includes a parking mode A, an EV pure electric driving mode B, an HEV hybrid driving mode C, a braking mode D and a plug-in mode E, which can be switched between different modes. In the EV pure electric driving mode B, only the battery 28 provides power to the walking motor, the battery 28 provides power to the plurality of motors and the main controller 11, and then the main controller 11 controls the front axle controller and the rear axle controller to realize stepless speed regulation of the motor; in the parking mode A, the whole machine stops at the original place. In the EV pure electric driving mode B, the battery 28 provides power to the front axle motor 13 and the rear axle motor 14, the front axle motor 13 drives the front wheels 25-a, and the rear axle motor 14 drives the rear wheels 25-b; in the HEV hybrid driving mode C, when a larger power is required, or the electric quantity is not enough, or the pure electric efficiency is lower than the driving efficiency of the engine 21, the battery 28 and the engine 21 work simultaneously, the power of the engine 21 and the battery 28 driving the front axle motor 13 and the rear axle motor 14 is coupled through a coupling device, the coupling device is a planetary gear coupling device, the clutch 26-a cuts off the power entering the generator, stops charging the battery 28, and makes the power of the engine 21 and the motor 26 used for the hybrid cotton picker to obtain the maximum power. When the target power is not required, the engine 21 is connected with the clutch 26-a to drive the generator 26 to charge the battery 28; in the braking mode D, when braking is required, the front wheels 25-a drive the front axle motor 13 to reversely charge the battery 28; in the plug-in mode E, when the cotton picker is stopped, an external power supply is connected to the cotton picker to charge the power battery of the cotton picker. Therefore, compared with the traditional combine harvester, the engine does not have to work at the maximum power all the time, the engine always works in the ideal interval, and the energy utilization efficiency is improved.

[0093] In FIG. 7, the vehicle speed v veh and the battery SOC represent the vehicle state variables, the driving torque T t and the braking torque T brk represent the control input variables, T reg and v EV are the maximum regenerative braking torque of the motor and the pure electric mode vehicle speed threshold value respectively, the symbols “∧” and “∨” represent the logical operators “and” and “or” respectively, and ①-⑨ are different working mode switching condition sets, as shown in FIG. 11. FIG. 7 embodies the dynamic evolution process of different working modes in the actual driving cycle, the driving system state and the working mode are updated through the current state feedback and the control input to form the switching condition set ①-⑨, further, different working modes are independent discrete events, and there is a dynamic evolution process of the continuous state variable in the current mode. Therefore, the switching of different working modes involves continuous variables and discrete states and influences each other, so as to improve the fuel economy and dynamic performance of the whole vehicle.

[0094] Fig. 8 to Fig. 10 express the power flow of each mode in the power system of the application. Among them, the EV pure electric drive mode B power flow: battery 28→ front axle motor 13, rear axle motor 14, picking motor 15, fan motor 16, baling motor 17, hydraulic pump motor 18, motor 18-a, as shown in Fig. 8. The HEV hybrid drive mode C power flow: first path: battery 28→ front axle motor 13, rear axle motor 14, picking motor 15, fan motor 16, baling motor 17, hydraulic pump motor 18, motor 18-a; second path: gearbox 22→ engine 21→ generator 26→ inverter 27→ battery 28; third path: engine 21→ gearbox 22→ coupling device→ differential→ wheel, as shown in Fig. 9. The brake mode D power flow D: front wheel, rear wheel→ front axle motor 13, rear axle motor 14→ battery 28, as shown in Fig. 10.

[0095] A control method of the series-parallel hybrid cotton picker, comprising the following steps:

[0096] The battery 28 distributes electric energy to the walking motor controller to control the walking motor to drive the walking device to walk; when the pure electric drive of the battery cannot meet the target power, the engine 21 transmits power to the coupling device through the gearbox 22, the coupling device couples the power of the engine and the walking motor, and then transmits the power to the wheel through the differential, the battery 28 and the engine 21 jointly drive the wheel to walk; when the pure electric drive of the battery 28 can meet the target power, the engine 21 is connected with the clutch 26-a to drive the generator 26 to charge the battery 28;

[0097] The battery 28 distributes electric energy to the picking motor controller 11-c to control the picking motor 15 to drive the picking cylinder 42 and the stripping cylinder 43 of the picking device 40 to pick; the battery 28 distributes electric energy to the fan motor controller 11-e to control the fan motor 16 to drive the pneumatic conveying device 50 to blow air; the battery 28 distributes electric energy to the baling motor controller 11-f to control the baling motor 17 to drive the film feeding roller 71 and the transmission belt 72 of the baling device 70 to bale; the battery 28 distributes electric energy to the cotton collecting motor controller 11-g to control the motor 18-a to drive the beater 61 in the conveying feeding system to feed the cotton into the cotton collecting box 60; the battery 28 distributes electric energy to the conveying motor controller 11-h to control the hydraulic pump motor to drive the wing plate of the cotton supporting frame 80 to lower to unload the cotton in the cotton collecting box 60;

[0098] The main controller 11 independently adjusts the rotating speed of the walking motor, the picking motor, the fan motor, the baling motor, the motor 18-a and the hydraulic pump motor through the walking motor controller, the picking motor controller 11-c, the fan motor controller 11-e, the baling motor controller 11-f, the cotton collecting motor controller 11-g and the conveying motor controller 11-h respectively.

[0099] In combination with Fig. 11, the control method of the series-parallel hybrid cotton picker further includes the following control steps of switching different working modes of the series-parallel hybrid power system 20:

[0100] When the cotton picker starts, the EV pure electric driving mode B is switched from the parking mode A, the driving torque T t > 0, the braking torque T brk = 0;

[0101] When the cotton picker decelerates, the EV pure electric driving mode B is switched from the braking mode D, the vehicle speed v veh > 0, the driving torque T t = 0, the braking torque T brk > 0;

[0102] When the cotton picker accelerates, the EV pure electric driving mode B is switched from the braking mode D, the vehicle speed v veh > 0, the driving torque T t > 0, the braking torque T brk = 0;

[0103] When the cotton picker decelerates, the EV pure electric driving mode B is switched from the HEV hybrid driving mode C, the vehicle speed v veh < the pure electric mode vehicle speed threshold v EV , the driving torque T t > 0, the braking torque T brk = 0, the battery SOC > the minimum battery capacity;

[0104] When the cotton picker continuously accelerates, the HEV hybrid driving mode C is switched from the EV pure electric driving mode B, the vehicle speed v veh > the pure electric mode vehicle speed threshold v EV , the driving torque T t > 0, the braking torque T brk = 0;

[0105] When the cotton picker wheel drives the generator to charge the battery, the vehicle speed v veh > 0, the driving torque T t = 0, the braking torque T brk ≤ T reg The maximum regenerative braking torque of the motor, and the battery SOC < the maximum battery capacity;

[0106] When the cotton picker accelerates, the HEV hybrid driving mode C is switched from the braking mode D, the vehicle speed v veh > 0, the driving torque T t > 0, the braking torque T brk = 0;

[0107] When the cotton picker decelerates, the braking mode D is switched from the HEV hybrid driving mode C, the vehicle speed v veh> 0, driving torque T t = 0, braking torque T brk > 0;

[0108] When the cotton picker is decelerated to stop, the parking mode A is switched from the braking mode D, and the vehicle speed v veh > 0, driving torque T t = 0, braking torque T brk = 0.

[0109] The application realizes mechanical decoupling between working systems of the cotton picker through distributed electric drive, and can realize motor drive, stepless speed regulation and variable torque during the operation of the cotton picker, so that the cotton is picked and packed more stably, efficiently and energy-savingly, and the speed and operation transmission efficiency of the cotton picker are improved.

[0110] In the parking mode A, the whole machine stops working; in the EV pure electric drive mode B, the battery 28 drives the whole machine to work; in the HEV hybrid drive mode C, the battery 28 and the engine 21 jointly drive the whole machine to work, and when the engine 21 has surplus power, the walking motor can be driven to reversely charge the battery 28; in the braking mode D, the wheels reversely charge the battery 28 through the walking motor; and in the plug-in mode E, the external power supply 29 of the series-parallel hybrid power cotton picker charges the power battery 28. During the operation of the series-parallel hybrid power cotton picker, the target of switching between the parking mode A, the EV pure electric drive mode B, the HEV hybrid drive mode C, the braking mode D and the plug-in mode E of the cotton picker in the hybrid working mode can be realized, and the energy utilization efficiency is improved, so that the endurance and energy saving of the whole machine are considered.

[0111] The application adopts the series-parallel hybrid power technology to consider the endurance and energy saving of the whole machine according to the characteristics of the traditional combine harvester, such as large power and high energy consumption. Compared with the traditional power system, the oil-electric hybrid power system involves the problem of coordinated output of the engine and the motor, and the application provides greater flexibility and adaptability by switching between the parking mode, the EV pure electric drive mode, the HEV hybrid drive mode, the braking mode and the plug-in mode according to specific operation requirements, and the whole machine has the advantage of high energy utilization efficiency.

[0112] The cotton picker adopting the distributed electric drive technology has the advantages of flexible structure layout and high energy utilization rate, as a direct power generation part, the working system and the power system are not mechanically connected, and the control decoupling of the two is easy to realize. The vehicle speed and the output torque can be frequently changed to match the continuous change of the actual load. Therefore, the vehicle speed can be steplessly changed, the output torque can be changed, and the transmission efficiency is high.

[0113] It should be understood that although the present specification is described in terms of various embodiments, each of which describes only one implementation, the specification is intended to cover all possible implementations that are within the scope of the application, which is defined by the claims. One skilled in the art will readily recognize from the disclosure herein, that alternative embodiments of the present application can be constructed from a number of approaches already known in the art, which, if desired, can be selected for the implementation of the techniques described herein without departing from the scope of the present application. Accordingly, the application is not intended to be limited to the implementations described herein but is to be accorded the widest scope consistent with the claims.

[0114] The detailed description set forth above is merely illustrative of the application and is not intended to limit the scope of the application as defined in the claims below. The descriptions of the various embodiments have been presented for purposes of illustration and are not intended to be exhaustive or limited to the embodiments described. Many modifications and variations will be apparent to those of ordinary skill in the art. It is intended that the specification be considered as exemplary only and that the scope of the application be determined not with reference to the preceding description but instead with reference to the appended claims.

Claims

1. A hybrid-type cotton harvester, characterized in that, Including a series-parallel hybrid power system (20); The hybrid power system (20) includes an engine (21), a gearbox (22), a coupling device, a differential, a generator (26), a battery (28), a main controller (11), a walking motor controller, a picking motor controller (11-c), a fan motor controller (11-e), a baling motor controller (11-f), a cotton collecting motor controller (11-g), and a conveying motor controller (11-h); the engine (21) and the battery (28) are used to output power; the generator (26) is used to power the engine (21). 1) The mechanical energy is converted into electrical energy to charge the battery (28); the battery (28) is connected to the walking motor controller, which distributes electrical energy to the walking motor controller to control the walking motor to drive the walking device (30) to walk; the battery (28) is connected to the picking motor controller (11-c), which distributes electrical energy to the picking motor controller (11-c) to control the picking motor (15) to drive the picking device (40) to pick; the battery (28) is connected to the fan motor controller (11-e), which distributes electrical energy to the fan motor controller (11-e) to control the picking motor (15) to drive the picking device (40) to pick; the battery (28) is connected to the fan motor controller (11-e), which distributes electrical energy to the fan motor controller (11-e) to drive the fan motor controller (11-e) to drive the fan motor controller (11-e) to pick. 11-e) The control fan motor (16) is used to drive the pneumatic conveying device (50) to deliver air; the battery (28) is connected to the baling motor controller (11-f), which distributes electrical energy to the baling motor controller (11-f) to control the baling motor (17) to drive the baling device (70) to bale; the battery (28) is connected to the cotton collecting motor controller (11-g), which distributes electrical energy to the cotton collecting motor controller (11-g) to control the motor (18-a) to drive the impact roller (61) to feed cotton into the cotton collecting box (60). The battery (28) is connected to the conveyor motor controller (11-h) and distributes electrical energy to the conveyor motor controller (11-h) to control the hydraulic pump motor (18) to drive the wing plate of the cotton support frame (80); the engine (21) is connected to the gearbox (22), the gearbox (22) is connected to the coupling device, the coupling device is connected to the walking motor, the engine (21) can transmit power to the coupling device through the gearbox (22), the coupling device couples the power of the engine (21) and the walking motor, and then transmits it to the wheels through the differential; The main controller (11) is connected to the battery (28), the walking motor controller, the picking motor controller (11-c), the fan motor controller (11-e), the packing motor controller (11-f), the cotton collecting motor controller (11-g), and the conveying motor controller (11-h), respectively.

2. The hybrid-powered cotton harvester according to claim 1, characterized in that, The travel motor controller includes a front axle motor controller (11-a) and a rear axle motor controller (11-b); the travel motor includes a front axle motor (13) and a rear axle motor (14); The front axle motor controller (11-a) is used to control the front axle motor (13) to drive the front wheels (25-a) to move; The rear axle motor controller (11-b) is used to control the rear axle motor (14) to drive the rear wheels (25-b) to move.

3. The hybrid cotton harvester according to claim 1, characterized in that, The picking device (40) includes a picking drum (42) and a cotton removal drum (43); the picking motor (15) is connected to the picking drive shaft (15-b), and the picking drive shaft (15-b) is connected to the picking drum (42) and the cotton removal drum (43) through the transmission gear set (15-a); the picking motor (15) drives the picking drive shaft (15-b), and then transmits the power to the picking drum (42) and the cotton removal drum (43) through the transmission gear set (15-a).

4. The hybrid cotton harvester according to claim 1, characterized in that, The blower (51) in the pneumatic conveying device (50) is connected to the blower motor (16) and is driven by the blower motor (16) alone.

5. The hybrid-powered cotton harvester according to claim 1, characterized in that, The impact roller (61) of the conveying and feeding system in the cotton collection box (60) is connected to and driven independently by the motor (18-a).

6. The hybrid-powered cotton harvester according to claim 1, characterized in that, The film feeding roller (71) and the transmission belt (72) of the film coating device in the packaging device (70) share a packaging motor (17); the film feeding roller (71) is connected to the packaging motor (17) and is directly driven by the packaging motor (17); the transmission belt (72) is connected to the packaging motor (17) through the belt (17-a) and is driven by the packaging motor (17) through the belt (17-a).

7. The hybrid-powered cotton harvester according to claim 1, characterized in that, The battery (28) is connected to the main controller (11) via a step-down DC / DC converter (12); after the battery (28) is stepped down by the step-down DC / DC converter (12), it supplies power to the motor main controller (11).

8. The hybrid-powered cotton harvester according to claim 1, characterized in that, A clutch (26-a) is provided in front of the generator (26), and the generator (26) switches the power input to the generator (26) through the clutch (26-a).

9. The hybrid-powered cotton harvester according to claim 1, characterized in that, An inverter (27) is provided between the generator (26) and the battery (28).

10. The hybrid cotton harvester according to claim 1, characterized in that, The hybrid electric system (20) includes a parking mode (A), an EV pure electric drive mode (B), an HEV hybrid drive mode (C), a braking mode (D), and a plug-in mode (E), and can switch between different modes.

11. The hybrid-powered cotton harvester according to claim 10, characterized in that, In EV pure electric drive mode (B), the drive motor is powered only by the battery (28).

12. The hybrid-powered cotton harvester according to claim 10, characterized in that, In HEV hybrid drive mode (C), when pure electric drive cannot meet the target power, the battery (28) and engine (21) work at the same time. The engine (21) and the battery (28) drive the walking motor through the coupling device and drive the wheels through the differential. The clutch (26-a) cuts off the power entering the generator (26) and stops charging the battery (28).

13. The hybrid-type cotton harvester according to claim 12, characterized in that, In HEV hybrid drive mode (C), when pure electric drive can meet the target power, the engine (21) connects to the generator (26) to charge the battery (28).

14. The hybrid-powered cotton harvester according to claim 10, characterized in that, In braking mode (D), the wheels charge the battery (28) in reverse via the walking motor.

15. The hybrid-powered cotton harvester according to claim 10, characterized in that, In plug-in mode (E), the external power source (29) of the hybrid cotton harvester charges the power battery (28).

16. A control method for a hybrid cotton harvester according to any one of claims 1-15, characterized in that, Includes the following steps: The battery (28) of the hybrid power system (20) distributes electrical energy to the walking motor controller to control the walking motor to drive the walking device (30) to walk; The battery (28) distributes electrical energy to the picking motor controller (11-c) to control the picking motor (15) to drive the picking roller (42) and cotton stripping roller (43) of the picking device (40) for picking; the battery (28) distributes electrical energy to the fan motor controller (11-e) to control the fan motor (16) to drive the pneumatic conveying device (50) for air supply; the battery (28) distributes electrical energy to the baling motor controller (11-f) to control the baling motor (17) to drive the film feeding roller (71) and transmission belt (72) of the baling device (70) for baling; the battery (28) distributes electrical energy to the cotton collecting motor controller (11-g) to control the motor (18-a) to drive the striking roller (61) to feed cotton into the cotton collecting box (60); the battery (28) distributes electrical energy to the conveying motor controller (11-h) to control the hydraulic pump motor (18) to drive the wing plate of the cotton support frame (80); The main controller (11) independently adjusts the speeds of the walking motor, the picking motor (15), the fan motor (16), the baling motor (17), the motor (18-a), and the hydraulic pump motor (18) through the walking motor controller, the picking motor controller (11-c), the fan motor controller (11-e), the baling motor controller (11-f), the cotton collecting motor controller (11-g), and the conveying motor controller (11-h).

17. The control method for the hybrid cotton harvester according to claim 16, characterized in that, It also includes the following steps: In the EV pure electric drive mode (B), the hybrid system (20) provides power to the drive motor only through the battery (28); In the HEV hybrid drive mode (C), when the pure electric drive cannot meet the target power, the battery (28) and the engine (21) work at the same time. The engine (21) and the battery (28) drive the walking motor through the coupling device and drive the wheels through the differential. The clutch (26-a) cuts off the power entering the generator (26) and stops charging the battery (28). In the HEV hybrid drive mode (C), when the pure electric drive can meet the target power, the engine (21) connects to the generator (26) to charge the battery (28). In braking mode (D), the wheels of the hybrid power system (20) charge the battery (28) in reverse via the drive motor. In plug-in mode (E), the hybrid power system (20) uses an external power source (29) to charge the power battery (28).

18. The control method for the hybrid cotton harvester according to claim 17, characterized in that, It also includes the following control steps for the series-parallel hybrid power system (20): When the cotton harvester starts, it switches from parking mode (A) to EV pure electric drive mode (B), with a drive torque T. t >0, braking torque T brk =0; The cotton harvester decelerates by switching from EV pure electric drive mode (B) to braking mode (D), with the vehicle speed v veh >0, driving torque T t =0, braking torque T brk >0; The cotton harvester accelerates by switching from braking mode (D) to EV pure electric drive mode (B), with vehicle speed v veh >0, driving torque T t >0, braking torque T brk =0; The cotton harvester decelerates by switching from HEV hybrid drive mode (C) to EV pure electric drive mode (B) at vehicle speed v. veh Pure electric mode vehicle speed threshold v EV Drive torque T t >0, braking torque T brk =0, battery SOC > minimum battery capacity; The cotton harvester continuously accelerates, switching from EV pure electric drive mode (B) to HEV hybrid drive mode (C), with vehicle speed v veh Pure electric mode vehicle speed threshold v EV Drive torque T t >0, braking torque T brk =0; The cotton harvester wheels drive the generator (26) to charge the battery (28), and the vehicle speed is v. veh >0, driving torque T t =0, braking torque T brk ≤T reg The maximum regenerative braking torque of the motor, and the battery SOC < the maximum battery capacity; The cotton harvester accelerates by switching from braking mode (D) to HEV hybrid drive mode (C), with vehicle speed v veh >0, driving torque T t >0, braking torque T brk =0; The cotton harvester decelerates by switching from HEV hybrid drive mode (C) to braking mode (D) at vehicle speed v. veh >0, driving torque T t =0, braking torque T brk >0; When the cotton harvester decelerates to a stop, it switches from braking mode (D) to parking mode (A), with the vehicle speed v veh =0, driving torque T t =0, braking torque T brk =0.

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